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include/env_map.h

@@ -32,7 +32,7 @@ class ArticulatedObstacle;
 
 #include "pfp.h"
 
-#define EXPORTING3
+//#define EXPORTING3
 
 #define TWO_AND_HALF_DIM
 

include/path_finder.hpp

@@ -104,7 +104,7 @@ std::vector<Dart> pathFindAStar(EnvMap& envMap, const typename PFP::TVEC3& posit
 	}
 	else
 	{
-		std::cout << "pathFindAStar: no path found !" << std::endl ;
+//		std::cout << "pathFindAStar: no path found !" << std::endl ;
 //		exit(1) ;
 	}
 	return path ;

src/agent.cpp

@@ -519,11 +519,11 @@ void Agent::update()
 #ifdef EXPORTING_OBJ
 	VEC3 dir = meanDirection_ ;
 	VEC3 base(0, -1, 0) ;
-	VEC3 axisRot = base ^ dir ;
-	int sign = axisRot[2] > 0 ? 1 : -1 ;
+//	Geom::Plane3D<float> pl = Algo::Surface::Geometry::facePlane<PFP>(sim_->envMap_.map, part_.d, sim_->envMap_.position);
+//	pl.project(dir);
 	//57,2957795 : conversion from radian to degree
 
-	float myRot =sign * acos(-dir[1]);
+
 
 	const VEC3 displ = getPosition();
 //	TraversorV<PFP2::MAP> tV(map);
@@ -533,11 +533,26 @@ void Agent::update()
 //		position[d] = position[d]+displ;
 //		position[d] += rotate(position[d], getPosition(), myRot);
 //	}
-
+	VEC3 normale = Algo::Surface::Geometry::faceNormal<PFP>(sim_->envMap_.map, part_.d, sim_->envMap_.position);
 	m_transfo.identity();
-	Geom::rotateZ(myRot,m_transfo);
+
+	float angle2 = Geom::angle(dir, base ) ;
+	VEC3 axis2=VEC3(0,0,1);
+	if(angle2 != 0)
+	{
+//		CGoGNout<<"mexicain :" << agentNo << "angle : "<< angle2 <<CGoGNendl;
+		Geom::rotate(axis2, angle2, m_transfo) ;
+	}
+	float angle = Geom::angle(normale, VEC3 (0,0,1) ) ;
+	VEC3 axis = VEC3(0,0,1) ^ normale ;
+	if(angle != 0)
+	{
+		Geom::rotate(axis, angle, m_transfo) ;
+	}
+
 	Geom::translate(displ[0],displ[1],displ[2],m_transfo);
 	m_transfo.transpose();
+
 //	previousPos = getPosition();
 //	previousRot = myRot;
 

src/moving_mesh.cpp

@@ -26,7 +26,7 @@ constrainedV(map)
 
 	float area = Algo::Surface::Geometry::convexFaceArea<PFP>(envMap.map, d, envMap.position);
 	scaleValue = std::max(area/1400.0f,2.0f);
-	std::cout << "scaleVal " << scaleValue << std::endl;
+//	std::cout << "scaleVal " << scaleValue << std::endl;
 
 //	scale(scaleValue/1.8f);
 	scale(scaleValue);
@@ -261,7 +261,7 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
 		rot.identity() ;
 		Geom::scale(1.5f,1.5f,1.0f,rot);
 		angle = Geom::angle(normale, VEC3 (0,0,1) ) ;
-		CGoGNout<<"angle : "<<angle<<CGoGNendl;
+//		CGoGNout<<"angle : "<<angle<<CGoGNendl;
 		axis = VEC3(0,0,1) ^ normale ;
 
 	//	Geom::translate(center[0],center[1],center[2],rot);
@@ -277,8 +277,8 @@ std::vector<VEC3> MovingMesh::computeProjectedPointSet(float maxHeight, Dart d)
 //			std::cout << "fin " << points[i] << std::endl;
 	}
 
-	std::cout << "nb vertices before simplification -> " << points.size() <<" ||" << points [0]<< std::endl;
-	std::cout << "nb vertices after simplification -> " << res.size() << " ||" << res [0]<< std::endl;
+//	std::cout << "nb vertices before simplification -> " << points.size() <<" ||" << points [0]<< std::endl;
+//	std::cout << "nb vertices after simplification -> " << res.size() << " ||" << res [0]<< std::endl;
 
 	return res;
 }
@@ -318,7 +318,7 @@ void MovingMesh::simplifyCurve(std::vector<VEC3>& pointSet, std::vector<bool>& a
 
 std::vector<VEC3> MovingMesh::jarvisConvexHull(const std::vector<VEC3>& pointSet)
 {
-	std::cout << "pointSet " << pointSet.size() << std::endl;
+//	std::cout << "pointSet " << pointSet.size() << std::endl;
 	assert(pointSet.size()>2);
 
 //	std::vector<unsigned int> convHull;

src/moving_obstacle.cpp

@@ -912,12 +912,12 @@ void MovingObstacle::updateForces()
 			float norm = v1.norm();
 			float rigidity = 50.0f;
 
-			float stretch = 4*rigidity*(edgeLength[e]-norm);
+			float stretch = rigidity*(edgeLength[e]-norm);//4
 			float angularStretch = 0, angularStretch2 = 0;
 			float restAngle = vertexAngle[e];
 			if(restAngle!=0.0f)
 			{
-				float angularRig = 2*rigidity;
+				float angularRig = 2*rigidity;//2
 
 				float curAngle = Algo::Surface::Geometry::angle<PFP>(map, d,map.phi2(map.phi_1(d)),position);
 
@@ -954,7 +954,7 @@ void MovingObstacle::updateForces()
 			restAngle = vertexAngle[d];
 			if(restAngle!=0.0f)
 			{
-				float angularRig = 2*rigidity;
+				float angularRig = 2*rigidity;//2
 
 				float curAngle = Algo::Surface::Geometry::angle<PFP>(map, map.phi_1(d),map.phi2(map.phi1(d)),position);
 
@@ -970,7 +970,7 @@ void MovingObstacle::updateForces()
 				angularStretch = angularRig*(restAngle-curAngle);
 			}
 
-			stretch = 4*rigidity*(edgeLength[d]-norm);
+			stretch = rigidity*(edgeLength[d]-norm);//4
 			if(norm>0.0f)
 			{
 				VEC3 f = (stretch+angularStretch)*(v1/norm);
@@ -988,7 +988,7 @@ void MovingObstacle::updateForces()
 			restAngle = vertexAngle[map.phi_1(d)];
 			if(restAngle!=0.0f)
 			{
-				float angularRig = 2*rigidity;
+				float angularRig = 2*rigidity;//2
 
 				float curAngle = Algo::Surface::Geometry::angle<PFP>(map, e,map.phi2(d),position);
 
@@ -1019,12 +1019,13 @@ void MovingObstacle::updateForces()
 			//-------------------------------------------------------------------------
 			// ARASH : A présent on calcule les interactions avec les autres obstacles.
 		VEC3 norm;
-		double obst_stiffness = 5.0; // agent-obstacle interaction stiffness
+		double obst_stiffness = 2.0; // agent-obstacle interaction stiffness
 		int obst_power = 2  ;           // the power to which elevate the agent-obstacle distance
 
-		double obst_radius_infl;
+		double obst_radius_infl, obst_radius_infl_buildings;
 
-			obst_radius_infl = 10.; // scenario 1 et 3
+			obst_radius_infl = 20.; // scenario 1 et 3
+			obst_radius_infl_buildings= 50.0f;
 
 		float fixed_obst_factor = 5.0f;
 
@@ -1055,7 +1056,7 @@ void MovingObstacle::updateForces()
 						VEC3 p1=obst->p2 ;
 						VEC3 p2=obst->p1 ;
 
-						forces[dd] += computeForce(p,p1,p2,fixed_obst_factor*obst_radius_infl,fixed_obst_factor*obst_power,fixed_obst_factor*obst_stiffness,normFace);
+						forces[dd] += computeForce(p,p1,p2,obst_radius_infl_buildings,fixed_obst_factor*obst_power,fixed_obst_factor*obst_stiffness,normFace);
 					}
 
 				d = map.phi<21>(d);

src/simulator.cpp

@@ -91,14 +91,14 @@ void Simulator::init( float dimension, unsigned int nbAgent, unsigned int nbObst
 		case 6:
 
 			envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			addMovingObstacles(nbObst, 1);
+			addMovingObstacles(nbObst, 1, 500, 1);
 			setupPlanetScenario(nbAgent,nbObst);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
 
 			break;
 		case 7 : envMap_.init(config,200.0,200.0, minSize, 400.0f);
-			addMovingObstacles(nbObst, 1 , 300 , 3 );
+			addMovingObstacles(nbObst, 1 , 300 , 1 );
 			setupPlanetScenario(nbAgent,nbObst, 1 , 1);
 			addPathToObstacles(envMap_.buildingMark, true);
 			addPathsToAgents();
@@ -774,7 +774,7 @@ void Simulator::setupPlanetScenario(unsigned int nbAgents, unsigned int nbObstac
 	CellMarker<FACE> filled(envMap_.map);
 
 
-	unsigned int bMax = nbx * nby > 0 ? nbAgents / (nbx * nby) : nbAgents ;
+	unsigned int bMax = nbx * nby > 0 ? (nbx * nby < nbAgents ? nbAgents/ (nbx * nby) : nbAgents) : nbAgents ;
 
 	for (unsigned int i = 0; i < bMax && d != envMap_.map.end(); ++i)
 	{
@@ -853,6 +853,7 @@ void Simulator::addMovingObstacles(unsigned int nb, unsigned int type, float are
 //			CGoGNout<<" dCell initiale :"<< d <<CGoGNendl;
 		}
 	}
+	std::cout << "nb obstacles : " << movingObstacles_.size() << std::endl;
 }
 
 void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
@@ -903,7 +904,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 			movingMeshes_.push_back(mm);
 			vPos = mm->computeProjectedPointSet(maxHeight, d);
 			std::reverse(vPos.begin(),vPos.end());
-			std::cout << "créé limace" << std::endl;
+//			std::cout << "créé limace" << std::endl;
 		}
 
 			break;
@@ -946,7 +947,7 @@ void Simulator::addMovingObstacle(Dart d, unsigned int obstType)
 
 	MovingObstacle * mo = new MovingObstacle(this, movingObstacles_.size(),vPos,goals, (obstType==0), (obstType==0), 0 , d);
 
-	std::cout << "créé obstacle : "<<vPos[0] << std::endl;
+//	std::cout << "créé obstacle : "<<vPos[0] << std::endl;
 
 	movingObstacles_.push_back(mo);